Method, system, and apparatus for processing parking, and vehicle controller

ABSTRACT

The present disclosure provides a method, system, and apparatus for processing parking and a vehicle controller, and relates to the field of intelligent transportation technology, specifically to the field of automated parking technology. The method is executed by a parking system deployed on a vehicle controller, the parking system including a perception module and other modules except the perception module; the perception module being deployed on a first operating system in the vehicle controller; and the other modules being deployed on a second operating system in the vehicle controller; the method includes: processing an image collected by an image collector through the perception module to obtain perception result data; and controlling a vehicle based on the perception result data obtained from the perception module by the other modules.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No.202010067384.4, filed on Jan. 20, 2020, titled “Method, system, andapparatus for processing parking, and vehicle controller,” which ishereby incorporated by reference in its entirety.

TECHNICAL FIELD

Embodiments of the present disclosure relate to the field of intelligenttransportation technology, specifically to the field of automatedparking technology, and more specifically to a method, system, andapparatus for processing parking, and a vehicle controller.

BACKGROUND

With the development of communication technology, there are newpossibilities for automatic parking and automated valet parkingtechnologies.

At present, during the use of APA (Automatic Parking Assist) and AVP(Automated Valet Parking), the most common method is to connect a set ofhardware to undertake the software system of APA and AVP. Using thismethod, although it can be decoupled from a vehicle's own system, thecost of newly added hardware accounts for more than 80% of the totalselling price, therefore, the cost of the vehicle increases.

Therefore, there is a need for a method that can use the hardwarecarried by an in-vehicle system itself to use APA and AVP to reduce theuse cost and maximize the use of existing vehicle resources.

SUMMARY

Embodiments of the present disclosure disclose a method, system, andapparatus for processing parking, and a vehicle controller, which mayreduce the cost of a parking system and maximize the use of existingin-vehicle resources. Moreover, since no additional hardware isrequired, the installation cost caused by the additional hardware isalso reduced, and the complexity of the system is reduced.

In a first aspect, an embodiment of the present disclosure provides amethod for processing parking, executed by a parking system deployed ona vehicle controller, the parking system including a perception moduleand other modules except the perception module; the perception modulebeing deployed on a first operating system in the vehicle controller;and the other modules being deployed on a second operating system in thevehicle controller; the method including: processing an image collectedby an image collector through the perception module to obtain perceptionresult data; and controlling a vehicle based on the perception resultdata obtained from the perception module by the other modules.

The embodiment in the above disclosure has the following advantages orbeneficial effects: deploying the perception module on the firstoperating system, and deploying the other modules on the secondoperating system through the synergy of the first operating system andthe second operating system, the parking system can use existingin-vehicle resources to realize automated parking without externalhardware to reduce costs.

Alternatively, the first operating system and the second operatingsystem have a shared memory area; and the perception module and theother modules perform data interaction through the shared memory area.

The embodiment in the above disclosure has the following advantages orbeneficial effects: since the first operating system and the secondoperating system have a shared memory area, a data transmission speed isimproved.

Alternatively, the shared memory area is used to acquire an imagecomprising ultrasound data from the second operating system, such thatthe first operating system acquires the image comprising ultrasound datafrom the shared memory area.

The embodiment in the above disclosure has the following advantages orbeneficial effects: the ultrasound data enables the vehicle to acquireobstacle information around, and draw the ultrasound data in the image,so that the vehicle can control travelling based on surroundingenvironment after identifying the obstacles in the image.

Alternatively, the second operating system is further deployed with asurround view monitoring system; and the shared memory area is used tostore the image collected by the image collector, such that theperception module and the surround view monitoring system acquire theimage from the shared memory area.

The embodiment in the above disclosure has the following advantages orbeneficial effects: the surround view monitoring system can acquireobstacles around the vehicle to control the vehicle to travel safely.

Alternatively, the first operating system is an Android operatingsystem, and the second operating system is a QNX operating system.

The embodiment in the above disclosure has the following advantages orbeneficial effects: the Android operating system supports deep learningof the perception module, and the QNX operating system runs steadily.The dual-system form can realize the purpose of using existingin-vehicle resources for automated parking.

In a second aspect, an embodiment of the present disclosure provides amethod for processing parking, executed by a requester operating systemin a vehicle controller, the method including: sending a clocksynchronization request message to a receiver operating system at leasttwo times; the clock synchronization request message comprising messagesending time based on a time reference of the requester operatingsystem; acquiring a clock synchronization feedback message of thereceiver operating system; the clock synchronization feedback messagecomprising message receiving time based on a time reference of thereceiver operating system; and determining a system time referencedeviation between the requester operating system and the receiveroperating system, based on the message receiving time and the messagesending time of the clock synchronization at least two times.

The embodiment in the above disclosure has the following advantages orbeneficial effects: by determining the system time reference deviation,it is possible to make a parking control command issued by the vehiclemore accurate.

Alternatively, the determining the system time reference deviationbetween the requester operating system and the receiver operatingsystem, based on the message receiving time and the message sending timeof the clock synchronization at least two times, includes: determiningseparately time differences between the message receiving time and themessage sending time during the clock synchronization at least twotimes; and using a minimum time difference in the time differences ofthe clock synchronization at least two times as the system timereference deviation between the requester operating system and thereceiver operating system.

The embodiment in the above disclosure has the following advantages orbeneficial effects: using the minimum time difference in the timedifferences as the system time reference deviation may effectively avoidthe case of using the time of a message delay during the clocksynchronization as the system time reference deviation.

Alternatively, after determining the system time reference deviationbetween the requester operating system and the receiver operatingsystem, the method further includes: acquiring a target data messagesent by the receiver operating system, wherein the target data messagecomprises target data sending time based on the time reference of thereceiver operating system; and determining target data sending timebased on the time reference of the requester operating system, based onthe system time reference deviation and the target data sending time.

The embodiment in the above disclosure has the following advantages orbeneficial effects: by determining the accurate time of target datasending based on the system time reference of the requester operatingsystem, the accuracy of control command sending in automated parking canbe improved.

Alternatively, the requester operating system is a QNX operating system,and the receiver operating system is an Android operating system.

The embodiment in the above disclosure has the following advantages orbeneficial effects: the target data sending time sent by the QNXoperating system can be determined to improve the accuracy of thedual-system controlled vehicle.

In a third aspect, an embodiment of the present disclosure provides aparking system, including a perception module and other modules exceptthe perception module; the perception module being deployed on a firstoperating system in a vehicle controller; the other modules beingdeployed on a second operating system in the vehicle controller; wherethe perception module is configured to process an image collected by animage collector to obtain perception result data; and the other modulesare configured to control a vehicle based on the perception result dataobtained from the perception module.

In a fourth aspect, an embodiment of the present disclosure provides anapparatus for processing parking, configured in a requester operatingsystem in a vehicle controller, the apparatus including: a messagesending module, configured to send a clock synchronization requestmessage to a receiver operating system at least two times; the clocksynchronization request message comprising message sending time based ona time reference of the requester operating system; a messageacquisition module, configured to acquire a clock synchronizationfeedback message of the receiver operating system; the clocksynchronization feedback message comprising message receiving time basedon a time reference of the receiver operating system; and a referencedeviation determining module, configured to determine a system timereference deviation between the requester operating system and thereceiver operating system, based on the message sending time and themessage receiving time of the clock synchronization at least two times.

In a fifth aspect, an embodiment of the present disclosure provides avehicle controller, deployed with a parking system, the parking systemcomprising a perception module, and other modules except the perceptionmodule; where: the perception module is deployed on a first operatingsystem in the vehicle controller; the other modules are deployed on asecond operating system in the vehicle controller; the perception moduleis configured to process an image collected by an image collector toobtain perception result data; and the other modules are configured tocontrol a vehicle based on the perception result data obtained from theperception module.

The embodiment in the above disclosure has the following advantages orbeneficial effects: deploying the perception module on the firstoperating system, and deploying the other modules on the secondoperating system, through the synergy of the first operating system andthe second operating system, the parking system can use existingin-vehicle resources to realize automated parking without externalhardware to reduce costs.

Other effects possessed by the foregoing alternative implementationswill be described below in conjunction with specific embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to better understand the presentsolution and do not constitute a limitation of the present disclosure.

FIG. 1a is a schematic flowchart of a method for processing parkingaccording to a first embodiment of the present disclosure;

FIG. 1b is an architecture diagram of a vehicle controller according tothe first embodiment of the present disclosure;

FIG. 2 is a schematic flowchart of a method for processing parkingaccording to a second embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a process of clock synchronizationmessage interaction according to the second embodiment of the presentdisclosure;

FIG. 4 is a schematic structural diagram of a parking system accordingto a third embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of an apparatus for processingparking according to a fourth embodiment of the present disclosure; and

FIG. 6 is a block diagram of an electronic device for implementing amethod for processing parking according to embodiments of the presentdisclosure.

DETAILED DESCRIPTION OF EMBODIMENTS

The following describes exemplary embodiments of the present disclosurein conjunction with the accompanying drawings, which includes variousdetails of the embodiments of the present disclosure to facilitateunderstanding, and they should be considered as merely exemplary.Therefore, those of ordinary skill in the art should recognize thatvarious changes and modifications can be made to the embodimentsdescribed herein without departing from the scope and spirit of thepresent disclosure. Also, for clarity and conciseness, descriptions ofwell-known functions and structures are omitted in the followingdescription.

First Embodiment

FIG. 1a is a schematic flowchart of a method for processing parkingaccording to the first embodiment of the present disclosure. The presentembodiment is used in the case where a parking system parks automatedly.The embodiments of the present disclosure are executed by a parkingsystem deployed on a vehicle controller. The parking system includes aperception module and other modules except the perception module; theperception module is deployed on a first operating system in the vehiclecontroller; and the other modules are deployed on a second operatingsystem in the vehicle controller. As shown in FIG. 1a , the method forprocessing parking provided in the present embodiment may include thefollowing steps.

S110, processing an image collected by an image collector through theperception module to obtain perception result data.

In the present embodiment, the perception module is a module thatsupports deep learning algorithms. This module requires the use of GPU(Graphics Processing Unit) and DSP (Digital Signal Processing) computingpower in the vehicle controller. Here, GPU, also known as display core,visual processor, and display chip, is a kind of microprocessorspecialized in image and graphics related computing work on personalcomputers, workstations, game consoles and mobile devices. DSP is to usea computer or dedicated processing equipment to process such as collect,transform, filter, estimate, enhance, compress, or identify a signal indigital form to obtain a signal form that meets the needs. In thepresent embodiment, the image collector may be a camera mounted on thevehicle. The perception result data is data obtained by the perceptionmodule after processing the image. Exemplarily, the perception resultdata may be profile data information of obstacles in the surroundingenvironment, or may be data information of vacant parking spaces.

Alternatively, the first operating system is an Android operatingsystem, and the second operating system is a QNX operating system.

In the present embodiment, vehicles, especially autonomous drivingvehicles, typically have QNX+Android dual operating systems havingbuilt-in vehicle control chips. The Android operating system is anoperating system based on Linux open source code. The Android operatingsystem can use the computing power of GPU and DSP in the vehiclecontroller, so that after deploying the perception module on the Androidoperating system, it can support the perception module to process theimage. The QNX operating system is a distributed real-time operatingsystem. The QNX operating system may be implemented using the CPU in thevehicle controller, and the QNX operating system cannot use thecomputing power of GPU and DSP in the vehicle controller.

S120, controlling a vehicle based on the perception result data obtainedfrom the perception module by the other modules.

In the present embodiment, other modules may include a control module, aplanning module, an environment modeling module, and a timesynchronization module, etc., where the control module issues a controlcommand to the vehicle based on the perception result data. The planningmodule is configured to plan a vehicle path and control a vehiclechassis. The environment modeling module is configured to performmulti-channel and multi-frame fusion based on the perception result dataand construct obstacle information. The time synchronization module isconfigured to synchronize time of the first operating system and thesecond operating system.

Alternatively, the first operating system and the second operatingsystem have a shared memory area; and the perception module and theother modules perform data interaction through the shared memory area.

In the present embodiment, the shared memory area is an area forinteraction between the first operating system and the second operatingsystem. The shared memory area can store the image collected from theimage collector and interaction data between the perception module andother modules.

Specifically, reference may be made to an architecture diagram of avehicle controller shown in FIG. 1b . Referring to FIG. 1b , both thefirst operating system and the second operating system can acquire datafrom the shared memory area, which may improve a data transmissionefficiency between the dual operating systems.

Specifically, the second operating system acquires sensing data detectedby a vehicle sensor and image data collected by the image collector. Thesecond operating system processes the sensing data, for example,performs obstacle recognition on ultrasonic sensing data to obtainultrasound obstacle information, and draw an image including ultrasoundbased on the ultrasound obstacle information and the image data. Thesecond operating system stores the image including ultrasound in theshared memory area, and the first operating system may acquire the imageincluding ultrasound from the shared memory area. The vehicle sensor mayinclude: an ultrasonic sensor component, a global positioning system, oran inertial measurement unit.

Specifically, the perception module writes the perception result datainto the shared memory area, and other modules acquire the perceptionresult data from the shared memory area.

Further, the first operating system and the second operating system mayalso perform data interaction through virtual network communication. Avirtual network link does not contain a physical connection between twocomputing devices, but is implemented through network virtualization.The two most common forms of virtual networks are protocol-based virtualnetworks (such as VLAN, VPN, and VPLS) and virtual device based (such asa network connection virtual machine inside hypervisor) virtualnetworks.

Alternatively, the second operating system is also deployed with asurround view monitoring system; and the shared memory area is used tostore the image collected by the image collector, such that theperception module and the surround view monitoring system acquire theimage from the shared memory area.

In the present embodiment, the surround view monitoring system is to setup 4 to 8 wide-angle image collectors around the vehicle that can coverall the field of view around the vehicle, process multi-channel videoimages collected synchronously into a 360-degree top view of the vehiclebody around the vehicle, and finally display it on the screen of thecenter console to facilitate vehicle control. Specifically, after theimage collector collects the multi-channel video images synchronously,these images are stored in the shared memory area, and the surround viewmonitoring system can acquire the images from the shared memory area.

Alternatively, the shared memory area is used to acquire an imageincluding ultrasound data from the second operating system, such thatthe first operating system acquires the image including ultrasound datafrom the shared memory area.

In the present embodiment, the ultrasonic sensor component is installedaround the vehicle to detect the situation around the vehicle, and theultrasound data is drawn in the image collected by the image collector,and the image carrying the ultrasound data is stored in the sharedmemory area.

The embodiment in the above disclosure has the following advantages orbeneficial effects: deploying the perception module on the firstoperating system, and deploying the other modules on the secondoperating system, through the synergy of the first operating system andthe second operating system, the parking system can use existingin-vehicle resources to realize automated parking without hardware toreduce costs.

Second Embodiment

FIG. 2 is a schematic flowchart of a method for processing parkingaccording to the second embodiment of the present disclosure. Thepresent embodiment is used in the case where a parking system parksautomatedly, and is specifically used for time synchronization between areceiver operating system and a requester operating system. Theembodiment of the present disclosure is executed by the requesteroperating system in a vehicle controller. As shown in FIG. 2, the methodfor processing parking provided in the present embodiment may includethe following steps.

S210, sending a clock synchronization request message to a receiveroperating system at least two times.

In the present embodiment, the clock synchronization request messageincludes a message sending time based on a time reference of a requesteroperating system. The clock synchronization request message is sent bythe requester operating system to the receiver operating system tosynchronize the clocks of the requester operating system and thereceiver operating system. Because a system time reference between therequester operating system and the receiver operating system isdifferent, the message sending time in the clock synchronization requestmessage is counted based on the time reference of the requesteroperating system. Further, the clock synchronization request message mayalso carry the message ID.

In order to facilitate the perception module in the parking system tosend the perception result data to the other modules, alternatively, therequester operating system is a QNX operating system, and the receiveroperating system is an Android operating system.

S220, acquiring a clock synchronization feedback message of the receiveroperating system.

In the present embodiment, the clock synchronization feedback messageincludes message receiving time based on a time reference of thereceiver operating system.

The clock synchronization feedback message is sent by the receiveroperating system to the requester operating system after receiving theclock synchronization request message. The clock synchronizationfeedback message includes the ID of the feedback message. For a specificinteraction process, reference may be made to a schematic diagram of aprocess of clock synchronization message interaction shown in FIG. 3.

S230, determining a system time reference deviation between therequester operating system and the receiver operating system, based onthe message receiving time and the message sending time of the clocksynchronization at least two times.

In the present embodiment, based on a difference between the messagereceiving time and the message sending time, the system time referencedeviation between the requester operating system and the receiveroperating system may be determined. Because network delay is unstable,the clock synchronization message should be sent a plurality of times(for example, 50 times) to minimize an error caused by message delay asmuch as possible.

Alternatively, determining a system time reference deviation between therequester operating system and the receiver operating system, based onthe message receiving time and the message sending time of the clocksynchronization at least two times, includes: determining separatelytime differences between the message receiving time and the messagesending time during the clock synchronization at least two times; andusing a minimum time difference in the time differences of the clocksynchronization at least two times as the system time referencedeviation between the requester operating system and the receiveroperating system.

Specifically, the difference between the message receiving time and themessage sending time in each clock synchronization process is obtainedto obtain a plurality of time differences. The minimum time differenceis used as the system time reference deviation between the requesteroperating system and the receiver operating system. The advantage ofthis setting is that the message delay of the minimum time differencehas the smallest effect, such that the system time reference deviationbetween the requester operating system and the receiver operating systemis more accurate.

Alternatively, after determining the system time reference deviationbetween the requester operating system and the receiver operatingsystem, the method further includes: acquiring a target data messagesent by the receiver operating system, where the target data messageincludes target data sending time based on the time reference of thereceiver operating system; and determining target data sending timebased on the time reference of the requester operating system, based onthe system time reference deviation and the target data sending time.

In the present embodiment, the target data message may be the perceptionresult data sent by the receiver operating system. In the presentembodiment, the receiver operating system may be an Android operatingsystem, and the requester operating system may be a QNX operatingsystem. Based on the sending time of the Android operating system andthe system time reference deviation, the sending time of the perceptionresult data in the QNX operating system can be determined. The advantageof this setting is that it can make a parking control command issued bythe QNX operating system more accurate.

The embodiment in the above disclosure has the following advantages orbeneficial effects: the target data sending time sent by the QNXoperating system can be determined to improve the accuracy of thedual-system controlled vehicle.

Third Embodiment

FIG. 4 is a schematic structural diagram of a parking system accordingto the third embodiment of the present disclosure, the parking system iscapable of performing the foregoing method for processing parking, andthe system includes: a perception module, and other modules except theperception module; where the perception module is deployed on a firstoperating system in a vehicle controller; the other modules are deployedon a second operating system in the vehicle controller; the perceptionmodule, is configured to process an image collected by an imagecollector to obtain perception result data; and the other modules, areconfigured to control a vehicle based on the perception result dataobtained from the perception module.

The first operating system and the second operating system have a sharedmemory area; and the perception module and the other modules performdata interaction through the shared memory area.

The shared memory area is used to acquire an image including ultrasounddata from the second operating system, such that the first operatingsystem acquires the image including ultrasound data from the sharedmemory area.

The second operating system is also deployed with a surround viewmonitoring system; and the shared memory area is used to store the imagecollected by the image collector, such that the perception module andthe surround view monitoring system acquire the image from the sharedmemory area.

The first operating system is an Android operating system, and thesecond operating system is a QNX operating system.

The system in the present implementation may perform the method forprocessing parking provided by the embodiments of the presentdisclosure, and has the corresponding function modules and beneficialeffects for performing the method.

Fourth Embodiment

FIG. 5 is a schematic structural diagram of an apparatus for processingparking according to the fourth embodiment of the present disclosure.The apparatus is configured in a requester operating system in a vehiclecontroller, and may perform a method for processing parking provided bythe embodiments of the present disclosure, and has the correspondingfunction modules and beneficial effects for performing the method. Asshown in FIG. 5, the apparatus 500 may include: a message sending module501, configured to send a clock synchronization request message to areceiver operating system at least two times; the clock synchronizationrequest message including message sending time based on a time referenceof the requester operating system; a message acquisition module 502,configured to acquire a clock synchronization feedback message of thereceiver operating system; the clock synchronization feedback messageincluding message receiving time based on a time reference of thereceiver operating system; and a reference deviation determining module503, configured to determine a system time reference deviation betweenthe requester operating system and the receiver operating system, basedon the message sending time and the message receiving time of the clocksynchronization at least two times.

The reference deviation determining module 503 is specificallyconfigured to: determine separately time differences between the messagereceiving time and the message sending time during the clocksynchronization at least two times; and use a minimum time difference inthe time differences of the clock synchronization at least two times asthe system time reference deviation between the requester operatingsystem and the receiver operating system.

The apparatus is further configured to: acquire a target data messagesent by the receiver operating system, where the target data messageincludes target data sending time based on the time reference of thereceiver operating system; and determine target data sending time basedon the time reference of the requester operating system, based on thesystem time reference deviation and the target data sending time.

The requester operating system is a QNX operating system, and thereceiver operating system is an Android operating system.

Fifth Embodiment

According to a fifth embodiment of the present disclosure, a vehiclecontroller is provided, which may perform a method for processingparking provided by the embodiments of the present disclosure. Thevehicle controller is deployed with a parking system, the parking systemincluding a perception module, and other modules except the perceptionmodule; the perception module is deployed on a first operating system inthe vehicle controller; the other modules are deployed on a secondoperating system in the vehicle controller; the perception module isconfigured to process an image collected by an image collector to obtainperception result data; and the other modules are configured to controla vehicle based on the perception result data obtained from theperception module.

According to an embodiment of the present disclosure, the presentdisclosure further provides an electronic device and a readable storagemedium.

As shown in FIG. 6, which is a block diagram of an electronic device ofa method for processing parking according to an embodiment of thepresent disclosure. The electronic device is intended to representvarious forms of digital computers, such as laptop computers, desktopcomputers, workbenches, personal digital assistants, servers, bladeservers, mainframe computers, and other suitable computers. Theelectronic device may also represent various forms of mobileapparatuses, such as personal digital processing, cellular phones, smartphones, wearable devices, and other similar computing apparatuses. Thecomponents shown herein, their connections and relationships, and theirfunctions are merely examples, and are not intended to limit theimplementation of the present disclosure described and/or claimedherein.

As shown in FIG. 6, the electronic device includes: one or moreprocessors 601, a memory 602, and interfaces for connecting variouscomponents, including high-speed interfaces and low-speed interfaces.The various components are connected to each other using differentbuses, and may be installed on a common motherboard or in other methodsas needed. The processor may process instructions executed within theelectronic device, including instructions stored in or on the memory todisplay graphic information of GUI on an external input/output apparatus(such as a display device coupled to the interface). In otherembodiments, a plurality of processors and/or a plurality of buses maybe used together with a plurality of memories if desired. Similarly, aplurality of electronic devices may be connected, and the devicesprovide some necessary operations (for example, as a server array, a setof blade servers, or a multi-processor system). In FIG. 6, one processor601 is used as an example.

The memory 602 is a non-transitory computer readable storage mediumprovided by the present disclosure. The memory stores instructionsexecutable by at least one processor, so that the at least one processorperforms the method for processing parking provided by the presentdisclosure. The non-transitory computer readable storage medium of thepresent disclosure stores computer instructions for causing a computerto perform the method for processing parking provided by the presentdisclosure.

The memory 602, as a non-transitory computer readable storage medium,may be used to store non-transitory software programs, non-transitorycomputer executable programs and modules, such as programinstructions/modules corresponding to the method for processing parkingin the embodiments of the present disclosure (for example, the messagesending module 501, the message acquisition module 502, and thereference deviation determining module 503 shown in FIG. 5). Theprocessor 601 executes the non-transitory software programs,instructions, and modules stored in the memory 602 to execute variousfunctional applications and data processing of the server, that is, toimplement the method for processing parking in the foregoing methodembodiment.

The memory 602 may include a storage program area and a storage dataarea, where the storage program area may store an operating system andat least one function required application program; and the storage dataarea may store data created by the use of the electronic deviceaccording to the method for processing parking, etc. In addition, thememory 602 may include a high-speed random access memory, and may alsoinclude a non-transitory memory, such as at least one magnetic diskstorage device, a flash memory device, or other non-transitorysolid-state storage devices. In some embodiments, the memory 602 mayoptionally include memories remotely provided with respect to theprocessor 601, and these remote memories may be connected to theelectronic device of the method for processing parking through anetwork. Examples of the above network include but are not limited tothe Internet, intranet, local area network, mobile communicationnetwork, and combinations thereof.

The electronic device of the method for processing parking may furtherinclude: an input apparatus 603 and an output apparatus 604. Theprocessor 601, the memory 602, the input apparatus 603, and the outputapparatus 604 may be connected through a bus or in other methods. InFIG. 6, connection through a bus is used as an example.

The input apparatus 603 may receive input digital or characterinformation, and generate key signal inputs related to user settings andfunction control of the electronic device of the method for processingparking, such as touch screen, keypad, mouse, trackpad, touchpad,pointing stick, one or more mouse buttons, trackball, joystick and otherinput apparatuses. The output apparatus 604 may include a displaydevice, an auxiliary lighting apparatus (for example, LED), a tactilefeedback apparatus (for example, a vibration motor), and the like. Thedisplay device may include, but is not limited to, a liquid crystaldisplay (LCD), a light emitting diode (LED) display, and a plasmadisplay. In some embodiments, the display device may be a touch screen.

Various embodiments of the systems and technologies described herein maybe implemented in digital electronic circuit systems, integrated circuitsystems, dedicated ASICs (application specific integrated circuits),computer hardware, firmware, software, and/or combinations thereof.These various embodiments may include: being implemented in one or morecomputer programs that can be executed and/or interpreted on aprogrammable system that includes at least one programmable processor.The programmable processor may be a dedicated or general-purposeprogrammable processor, and may receive data and instructions from astorage system, at least one input apparatus, and at least one outputapparatus, and transmit the data and instructions to the storage system,the at least one input apparatus, and the at least one output apparatus.

These computing programs (also referred to as programs, software,software applications, or codes) include machine instructions of theprogrammable processor and may use high-level processes and/orobject-oriented programming languages, and/or assembly/machine languagesto implement these computing programs. As used herein, the terms“machine readable medium” and “computer readable medium” refer to anycomputer program product, device, and/or apparatus (for example,magnetic disk, optical disk, memory, programmable logic apparatus (PLD))used to provide machine instructions and/or data to the programmableprocessor, including machine readable medium that receives machineinstructions as machine readable signals. The term “machine readablesignal” refers to any signal used to provide machine instructions and/ordata to the programmable processor.

In order to provide interaction with a user, the systems andtechnologies described herein may be implemented on a computer, thecomputer has: a display apparatus for displaying information to the user(for example, CRT (cathode ray tube) or LCD (liquid crystal display)monitor); and a keyboard and a pointing apparatus (for example, mouse ortrackball), and the user may use the keyboard and the pointing apparatusto provide input to the computer. Other types of apparatuses may also beused to provide interaction with the user; for example, feedbackprovided to the user may be any form of sensory feedback (for example,visual feedback, auditory feedback, or tactile feedback); and any form(including acoustic input, voice input, or tactile input) may be used toreceive input from the user.

The systems and technologies described herein may be implemented in acomputing system that includes backend components (e.g., as a dataserver), or a computing system that includes middleware components(e.g., application server), or a computing system that includes frontendcomponents (for example, a user computer having a graphical userinterface or a web browser, through which the user may interact with theimplementations of the systems and the technologies described herein),or a computing system that includes any combination of such backendcomponents, middleware components, or frontend components. Thecomponents of the system may be interconnected by any form or medium ofdigital data communication (e.g., communication network). Examples ofthe communication network include: local area networks (LAN), wide areanetworks (WAN), the Internet, and blockchain networks.

The computer system may include a client and a server. The client andthe server are generally far from each other and usually interactthrough the communication network. The relationship between the clientand the server is generated by computer programs that run on thecorresponding computer and have a client-server relationship with eachother.

According to the technical solution of the embodiments of the presentdisclosure, deploying the perception module on the first operatingsystem, and deploying the other modules on the second operating system,through the synergy of the first operating system and the secondoperating system, the parking system can use existing in-vehicleresources to realize automated parking without connecting hardware toreduce costs.

It should be understood that the various forms of processes shown abovemay be used to reorder, add, or delete steps. For example, the stepsdescribed in the present disclosure may be performed in parallel,sequentially, or in different orders. As long as the desired results ofthe technical solution disclosed in the present disclosure can beachieved, no limitation is made herein.

The above specific embodiments do not constitute limitation on theprotection scope of the present disclosure. Those skilled in the artshould understand that various modifications, combinations,sub-combinations and substitutions may be made according to designrequirements and other factors. Any modification, equivalent replacementand improvement made within the spirit and principle of the presentdisclosure shall be included in the protection scope of the presentdisclosure.

What is claimed is:
 1. A method for processing parking, executed by aparking system deployed on a vehicle controller, the parking systemcomprising a perception module and other modules except the perceptionmodule; the perception module being deployed on a first operating systemin the vehicle controller; and the other modules being deployed on asecond operating system in the vehicle controller; the methodcomprising: processing an image collected by an image collector throughthe perception module to obtain perception result data; and controllinga vehicle based on the perception result data obtained from theperception module by the other modules.
 2. The method according to claim1, wherein the first operating system and the second operating systemhave a shared memory area; and the perception module and the othermodules perform data interaction through the shared memory area.
 3. Themethod according to claim 2, wherein the shared memory area is used toacquire an image comprising ultrasound data from the second operatingsystem, such that the first operating system acquires the imagecomprising ultrasound data from the shared memory area.
 4. The methodaccording to claim 2, wherein the second operating system is furtherdeployed with a surround view monitoring system; and the shared memoryarea is used to store the image collected by the image collector, suchthat the perception module and the surround view monitoring systemacquire the image from the shared memory area.
 5. The method accordingto claim 1, wherein the first operating system is an Android operatingsystem, and the second operating system is a QNX operating system.
 6. Amethod for processing parking, executed by a requester operating systemin a vehicle controller, the method comprising: sending a clocksynchronization request message to a receiver operating system at leasttwo times; the clock synchronization request message comprising messagesending time based on a time reference of the requester operatingsystem; acquiring a clock synchronization feedback message of thereceiver operating system; the clock synchronization feedback messagecomprising message receiving time based on a time reference of thereceiver operating system; and determining a system time referencedeviation between the requester operating system and the receiveroperating system, based on the message receiving time and the messagesending time of the clock synchronization at least two times.
 7. Themethod according to claim 6, wherein the determining the system timereference deviation between the requester operating system and thereceiver operating system, based on the message receiving time and themessage sending time of the clock synchronization at least two times,comprises: determining separately time differences between the messagereceiving time and the message sending time during the clocksynchronization at least two times; and using a minimum time differencein the time differences of the clock synchronization at least two timesas the system time reference deviation between the requester operatingsystem and the receiver operating system.
 8. The method according toclaim 7, wherein, after determining the system time reference deviationbetween the requester operating system and the receiver operatingsystem, the method further comprises: acquiring a target data messagesent by the receiver operating system, wherein the target data messagecomprises target data sending time based on the time reference of thereceiver operating system; and determining target data sending timebased on the time reference of the requester operating system, based onthe system time reference deviation and the target data sending time. 9.The method according to claim 6, wherein the requester operating systemis a QNX operating system, and the receiver operating system is anAndroid operating system.
 10. A parking system, comprising a perceptionmodule and other modules except the perception module; the perceptionmodule being deployed on a first operating system in a vehiclecontroller; the other modules being deployed on a second operatingsystem in the vehicle controller; wherein the perception module isconfigured to process an image collected by an image collector to obtainperception result data; and the other modules are configured to controla vehicle based on the perception result data obtained from theperception module.
 11. The parking system according to claim 10, whereinthe first operating system and the second operating system have a sharedmemory area; and the perception module and the other modules performdata interaction through the shared memory area.
 12. The parking systemaccording to claim 11, wherein the shared memory area is used to acquirean image comprising ultrasound data from the second operating system,such that the first operating system acquires the image comprisingultrasound data from the shared memory area.
 13. The parking systemaccording to claim 11, wherein the second operating system is furtherdeployed with a surround view monitoring system; and the shared memoryarea is used to store the image collected by the image collector, suchthat the perception module and the surround view monitoring systemacquire the image from the shared memory area.
 14. The parking systemaccording to claim 10, wherein the first operating system is an Androidoperating system, and the second operating system is a QNX operatingsystem.